MASTER-SLAVE MANIPULATOR APPARATUS AND METHOD THEREFOR, FURTHER TRAINING APPARATUS FOR MANIPULATOR OPERATION INPUT AND METHOD THEREFOR

摘要

A master-slave manipulator apparatus and a control method therefor, in which a movement which an operator does not intend is prevented from, thereby reflecting the operator's intention accurately and correctly, comprises: a master manipulator 1 for conducting an operation input therewith, a controller 4 for processing the operation input, and a slave manipulator 12 for operating upon drive instruction from the controller, wherein the master manipulator 1 comprises a plurality of force detectors 201 -20N, and the controller 4 decide a driver shaft, by comparing an output from a pattern producing means 5 for producing a generation pattern of the outputs of the plurality of force detectors to a pattern stored in a memory means 38 in advance, thereby removing the operation input which is caused unconsciously in the operation input of the master manipulator.